On a generalized predictive control algorithm

Generalized predictive control algorithms with reference models on imputs and outputs of the process have been proposed recently in the literature. Thise algorithms are extended by introducing suitable weighting factors in the performance index and it is shown that such algorithms provide a combined feedback feedforward control resulting in pole-zero cancellation of poles which do not correspond to the reference model. Hence, the system behaves asymptotically as the reference model provided the cancelled poles are stable. Therefore, a careful analysis of the stability of those poles in still needed.